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Steel!!
YOu should without a doubt look to all of the steel in your robot before you start speed holing the rest of the robot. The picture attached is from just one of the spur gears in last years drivetrain. This modification removed about 80% of the mass from the gear, and it never showed any signs of stress.
We have done everything from hollowing steel shafts, definately remove the hubs, weld the gears, and hollow out the web on the side of the gears with symetrical holes and material removal
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